کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
799786 | 1467772 | 2013 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
On the position kinematic analysis of MaPaMan: a reconfigurable three-degrees-of-freedom spatial parallel manipulator
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
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چکیده انگلیسی
This paper proposes a new three-degrees-of-freedom spatial parallel manipulator named the Madras Parallel Manipulator (MaPaMan). The manipulator has three identical legs, each of which includes a four-bar mechanism in its architecture. The arrangement of the links is such that with a little effort, the MaPaMan can be reconfigured into two different manipulators. The position kinematic problems for both the manipulators have been formulated and solved. In almost all the cases, the problems are reduced to the solution of univariate polynomials, whose coefficients are computed in closed-form. The formulations are demonstrated via numerical examples.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 62, April 2013, Pages 150–165
Journal: Mechanism and Machine Theory - Volume 62, April 2013, Pages 150–165
نویسندگان
R. Arun Srivatsan, Sandipan Bandyopadhyay,